#include "task.h"

void Task_4(void)
{
    // if(Switch_flag==0)target_angle=-38.66;
    // if(Switch_flag==2)target_angle=-180+38.66;
    // if(Switch_flag%2==0)target_angle=-38.66;
    // if(Switch_flag%2==1)target_angle=-180+38.66;
    if(Switch_flag==0)
    {
        target_angle = -38.66;
        angle_diff = calculate_error(target_angle,yaw);
    }
    else
    {
        target_angle = -180+38.66;
        angle_diff = calculate_error(target_angle,yaw);
    }

}
